mapping

Control-mode mapping utilities for NumPy-based controller pipelines.

类：

名称	描述
FlightMappingConfig	Mapping-range configuration for normalized action scaling.
FlightMappingResult	Mapped result for a normalized flight action or action batch.
FlightActionMapper	Map normalized actions into controller targets, wrench commands, or RPM.

函数：

名称	描述
target_to_command	Convert a full 12D target into a compact command vector.

FlightMappingConfig dataclass

FlightMappingConfig(velocity_range: tuple[float, float, float] | None = None, attitude_range: tuple[float, float, float] | None = None, body_rate_range: tuple[float, float, float] | None = (2.0, 2.0, 2.0))

Mapping-range configuration for normalized action scaling.

方法：

名称	描述
from_params	Build mapping ranges from vehicle parameters.
resolve	Resolve config overrides into concrete mapping ranges.

属性：

名称	类型	描述
velocity_range	tuple[float, float, float] | None	Velocity scaling in m/s for x, y, z axes.
attitude_range	tuple[float, float, float] | None	Attitude scaling in radians.
body_rate_range	tuple[float, float, float] | None	Body-rate scaling in rad/s.

velocity_range class-attribute instance-attribute

velocity_range: tuple[float, float, float] | None = None

Velocity scaling in m/s for x, y, z axes.

attitude_range class-attribute instance-attribute

attitude_range: tuple[float, float, float] | None = None

Attitude scaling in radians.

body_rate_range class-attribute instance-attribute

body_rate_range: tuple[float, float, float] | None = (2.0, 2.0, 2.0)

Body-rate scaling in rad/s.

from_params classmethod

from_params(params: VehicleParams) -> FlightMappingConfig

Build mapping ranges from vehicle parameters.

The returned ranges are chosen to broadly cover the controller range exposed by VehicleParams without requiring exact one-to-one alignment with the internal PX4-style controller limits.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters providing the reference control bounds.	必需

返回：

名称	类型	描述
FlightMappingConfig	FlightMappingConfig	Mapping ranges derived from params.

resolve

resolve(params: VehicleParams) -> FlightMappingConfig

Resolve config overrides into concrete mapping ranges.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters providing fallback control bounds.	必需

返回：

名称	类型	描述
FlightMappingConfig	FlightMappingConfig	Concrete mapping ranges for runtime use.

FlightMappingResult dataclass

FlightMappingResult(rpm_command: ndarray | Tensor, control: ndarray | Tensor | None = None, target: ndarray | Tensor | None = None)

Mapped result for a normalized flight action or action batch.

FlightActionMapper

FlightActionMapper(control_mode: str, params: VehicleParams = VehicleParams(), mapping: FlightMappingConfig | None = None)

Map normalized actions into controller targets, wrench commands, or RPM.

Initialize a NumPy flight action mapper for the selected control mode.

方法：

名称	描述
action_to_collective_acc	Map a normalized policy collective action to total collective acceleration.
collective_acc_to_thrust	Convert total collective acceleration into total thrust in Newtons.
action_to_collective_thrust	Convert a normalized policy collective action into total thrust.
map_action	Map a normalized action into an RPM command and optional intermediates.

属性：

名称	类型	描述
requires_controller	bool	Whether this mode needs a controller target expansion step.

requires_controller property

requires_controller: bool

Whether this mode needs a controller target expansion step.

action_to_collective_acc

action_to_collective_acc(action: float | ndarray, mixer: Mixer) -> np.ndarray

Map a normalized policy collective action to total collective acceleration.

collective_acc_to_thrust

collective_acc_to_thrust(collective_acc: float | ndarray) -> np.ndarray

Convert total collective acceleration into total thrust in Newtons.

action_to_collective_thrust

action_to_collective_thrust(action: float | ndarray, mixer: Mixer) -> np.ndarray

Convert a normalized policy collective action into total thrust.

map_action

map_action(action: ndarray, mixer: Mixer, *, state: ndarray | None = None, flight_controller: ControllerBase | None = None) -> FlightMappingResult

Map a normalized action into an RPM command and optional intermediates.

target_to_command

target_to_command(target: ndarray, command_mode: str, state: ndarray | None = None) -> np.ndarray

Convert a full 12D target into a compact command vector.

参数：

名称	类型	描述	默认
target	ndarray	Full target state ordered as [x, y, z, vx, vy, vz, roll, pitch, yaw, wx, wy, wz]. The intended convention is: - x, y, z: world-frame position - vx, vy, vz: body-frame linear velocity - roll, pitch, yaw: body attitude relative to the world frame - wx, wy, wz: body-frame angular velocity	必需
command_mode	str	Supported target command mode. Valid values are "tgt_pos", "tgt_vel", "tgt_ctatt", and "tgt_ctbr".	必需
state	ndarray | None	Current 12D vehicle state. Required only for "tgt_pos", where the returned command is the body-frame position error and heading error rather than an absolute world-frame pose target.	None

返回：

名称	类型	描述
	ndarray	np.ndarray: A compact command vector matching the requested command
mode	ndarray	tgt_pos -> [dx_body, dy_body, dz, dyaw] tgt_vel -> [vx_body, vy_body, vz_body, yaw_rate] tgt_ctatt -> [collective, roll, pitch, yaw_rate] tgt_ctbr -> [collective, wx_body, wy_body, wz_body]

引发：

类型	描述
ValueError	If command_mode is unsupported or state is missing for tgt_pos.